Isostatic balancing



y A. L. M. A. ROUY ISOSTATIC BALANCING Filed Feb. s, 1942 e Sheets-Sheet 2 N Q Mm mu m A A M f. R 3 W 4 mfi NP: @v M May 15, 19450 A. L. M. A. ROUY 2,376,277

ISOSTATIC BALANCING Filed Feb. 6, 1942 6 Sheets-Sheet flaaasraawamw Awm/me 1700);

y 1945 A. L. M A. ROUY 7 2,376,277

ISOSTATI C BALANG ING Filed Feb. 6, 1942 6 Sheets-Sheet 4 as V Lia

May 15, 1945- A. M. A. ROUY ISOSTATIC BALANCING Filed Feb. 6, 1942 6 Sheets-Sheet 5 um i y 15, A. M. A. ROUY ,376,277

, ISOSTATIC BALANCING I FiledFeb. 6, 1942 e Sheets-Sheet s Patented May 15, 1945 es rarer isos're'rlo BALANCING Auguste Louis Marie Antoine Rouyglicw York, N. Y., assignortc Gyro-Balance Corporation,

Greenwich, Comm, a corporation of Delaware Application February 6, 1942, Serial No.1 429,838

20 Claims.

This invention is directed to the suspension of a beam so that it is protected from harmful vibrations. In particular the invention relates to the mounting of a range finder sothat it is movable on three axes, with these movements con-- trolled in such a manner that vibrations harmful to the structure and. to the use, of, the range finder are prevented. v H l :It is at times either desirable ornecessary to mount a beam so that it is protected from vibrations occurring in the structure upon which it is mounted. An object of the invention is to provide such a mounting in a simple andefiective manner. H v I Another object of the invention is to mount a beam sothat it may oscillate, at a predetermined period only, along three orthogonal axes.

Another object of the invention is to mount a beam so that its normal period of oscillation is greater thanthe greatest period of harmful oscillations which may betransferred thereto.

Another object of the invention is to mount a beam for oscillation on three orthogonal axes in a such a manner that up to the resonant frequency of thebeamwith respect tothe support, the oscillations of the beam are greatly; damped, and when the frequency of the support vibrations become greater than 1.414 the resonant frequency of the beam, the beam is substantially undamped.

Another object of the invention is to mount a beam so that its movement along three orthogonal axesis damped when the amplitude of vibration is less than 0.1 mm. 3

Another object of theinventionis to mount a beam so that it is movable in response to the vibrationsof a supporting structure, parallelto,

but non-rotatable about, threeorthogonal axes. Another object of the invention is to mount a range finder so that, any oscillations or vibrations occurring therein will not. interfere with its-use.

Fig. 3 is a cross-sectional view on the line 33,

Fig. 2; I l

Fig. 4 is a cross-sectional view on the line 4-4, Fig. 2; e

Fig. 5 is a cross-sectional view on the lined-1+5,

Fig. 6 is a cross-sectional view on the line 6-6, Fig.2; v r e Fig. '7 is a cross-sectional view on the line 'l-l, Fig. 4; i Fig. 8 is a side elevational viewofa portion of a modified type ofrange finder mounting;

Fig. 9 is a cross-sectional View through the modified mounting on the line 9-9, Fig. 10;

Fig. 10 is a plan View of the mounting shown on the right side of Fig. 8; Fig. 11 is an enlarged cross-sectionalview of oneof the elastic bearings used in the modified structure of Fig. 8;

Fig. 12 isan enlarged cross-sectional view of a dampeningdevice used in the mounting of Fig. 8; and

t Fig. 13 is across-sectional view along the line [3-13, Fig. 12. l

, When itis necessaryto insulate a beam ,or elongated article from vibrations transmitted thereto from its supporting structure, very complex problems arise. The problems are solved by,

the instant invention in that movement of the beam isrestricted to lines parallel to three or,-v thogonal axes, and rotation of the beam about these axes is prevented. At the same time suitable dampening devices are provided so that any vibration transmitted to the beamis either entirely dampedgor kept Within such frequencies and amplitudes as not to interferewith the utility of the beam in its performance of whatever functions are required of it. e r

The problems of vibration control are especially. critical in the case of range finders, which are usually mounted on vibrating structures such as ships, tanks or field pieces. The vibrations,

produced from vehicle motion, gun firings either 7 with substantially no natural damping qualities, and with a rather high resonant frequency of vibration this being for long tubes of theorder of thirty to forty cycles per second,.and being in certain short tubes up, to, sixtycycles per sectrit oscillation frequency of about two cycles per second, which is less than the normal oscillation;

rate of four cycles per second of the human body, particularly the head. In other words, the oscillation rate is low enough to allow the'operator to sight through the eye pieces without disturbing the instrument, and the head of-the operator can follow the eye piece without shock or fatigue.

At the same time, rotation of the tube about the axes, which would produce a blurred image, and

1 displacements of large amplitude, which would prevent the'image from being centered ori= the cross-hairs, are prevented.

In Fig. l a cradle A', carrying an observers seat B, is movably mounted by rollers D upon a circular track E on base" F. Supports G, Figs. 2 to 6, extend vertically from the rear side of cradleA'. Shafts l-l an'dJ extend between-these supports G, and the range finder is hung from theseshaft's' in a manner to be described presently. The structure thus described .may be designated as the main supporting frame for' the article.

The tube or beam "12 constituting the range finderis' supported at' a plurality of points by bearings, coupled in pairs. These'pairs ofbearings are symmetriballylocated on opposite sides of the center of the rang'e'finderl In Fig. 2 a pair of the bearings is illustrated, the right hand bearing appearing" on the left side'of Fig. 1. Each bearing is constructed as follows, note Figs. 6* and 7: A collar 4- fixed to tube 2 is rotatably setwithin an annmus e, anti-friction needle rollem 8 being interposed therebetween if desired. Annulus 6' is "faced with end plates l0. -Four arms I2 are pivotally secured at M to the four upp r" corners ofplates I'll, these arms terminatingbelow tube'Z'in an inverted T-head Hi. Immediately" above heads l6; arms H are fixed to shafts l8, which are rotatably mounted in, and extend through housing 20. Atth'is point it is noted from Fig. 2 that shafts l8 'extend between andin' eifectconnect the housings 2B in. each pair of housings'to each other. H

The opening in housing 28- through which tube 2 passes,- is of greater diameter than tube 2. Consequently tube 2 can move with respect to housing 20, but because of the parallelogram formed by the pairs of arms IE on opposite sides of tube 2 this movement is restricted to displacement of thelongitu'dinal axis of tube 2 parallel to" itself in a substantially horizontal plane. The adherence to parallelism is further insured by the shafts l8 connecting pairs of housings 20 as therotation of the shaft by the arms in one housing will cause displacement of the arms and' supported tube portion in the connected housing.

Heads' IS on the lower ends of arms l2, are elastically restrained by pairs of oppositely disposed springs 22 mounted in spring boxes carried by'heusing'lfi. Springs 22" are for the purposeof centering'a'rms l2, and for giving the tube a predetermined frequency of oscillation. To prevent it from" acquiring large amplitudes through resonance at this frequency, brakes as indicated at 24, joined between plates 10 and housing All, may be used. Conventional types of hydraulic, mechanical or .elctrical brakes are suitable, a particular form of friction brake being more fully described with reference to Figs. 12 and 13.

. On opposite sides of the upper portion of each housing 20, note Fig. 2, are a pair of arms 26 fixed by pivot pin joints 21, to a shaft 28 which extends between a pair of housings, and is journaled at 25 in .each housing 20.

The other end of each arm 28 terminates in a bracket 3t fixed to shaft H by means of pin 32 and swivel block 34. Arms 26 are therefore movable in a verticalplane and such motion will rotate shaft H on its longitudinal axis because of pin 32. A simultaneous rotation of shaft 28 also takes place. At the same time arms 28, by reason-of the swivel blocks 34 and pivot joint 21 can move in a horizontal plane substantially in thedir-ection of the longitudinal axis of tube 2.

Ar rnstt similarly jointh'e-'loWersides"of hous ing 29 to shaft J a shaft 38 extending between pairs of housings ZEI. It' is thus apparent that arms 26, 36, together with shafts H an'dJ, and shafts 2t, 33, form systems or parallelograms through which housings 20, carrying tube 2; are hung from supports G, with tube 2 be'in'g'movable parallel to itself in a vertical plane; and movable in the direction of its horizontal axis parallel thereto. Y

Fastened to shaft H are cranks 4B, the lower ends of which engage's'prings mounted in boxes 42 fastened by elbows 44 to supports G; The spring arrangement is' essentially the same as the spring 22 and.the"mountingtherefor. Arms-26 are thus vertically' 'm'ovable' against the elasticity of the springs in boxes 42.'

Spring boxes 43 secured by elbows 45' tosup-.

ports G, are engaged by cranks '4'! fastened upon shaft J. Thus spring boxes 42 and 43 form ineffect a pair of oppositely disposedmeans for centering arms26 and 36 after up and down vertical movements of the arms. It is clear that the number of spring boxes need not be limited to the two pair shown, but can bevaried in accord ance with the frequency of oscillation required of any particular circumstance.

Elastic control of themovement of the arms 25 in the direction of the longitudinal axis of tube 2 is achieved by providing thefree ends of arms 26' with T-shaped heads 45 which engage oppositely disposed pairs of spring boxes 68 fastened to shaft I-I. Spring boxes 4'8 are substan-' tially similar to the springs 22 and the housing therefor. Arms 36 are likewise controlled by the spring boxes 50 mounted on shaft J As has been previously indicated,- each of the springs is of predetermined elasticity withrespect to the mass of the range finder. or damping devices, such as indicated at; 24, are included along each axis so that vibrationsof the range finder along the three orthogonal aXes' are damped for low frequencies of high amplitude, and undamped for high frequencies of small amplitude. Calculations have shown that no damping is necessary when the period of vibration' is more than 1.414 the. natural resonance frequency of the range finder. As rotation or twisting of the tube 2 is prevented by the hanger systems of parallelgrams, and as the vibrationsv are held below four oscillations per second, the range finder can be continually used without image distortion" despite the firing of salvos; ship or vehicle movements, and other operating disturbances. Another feature of the parallelogram mounting'is its compactness, whichjenablesit to besubstituted for the mountings conventionally used for range finders. l I

In. the broad aspects of the invention: as covered by. certain of the'claims, either ofthe hous-- ings 20, or both of them considered together with their connectingrods or. shafts I9, 28 and 38, may be designated as an'auxilia'ry supporting member. Such auxiliary supporting .member will be understood to be operatively disposed intermediate the structure which has been referred to as the main supporting frame, and the be'am- I likearticle to be ultimately suspended in accord ance with the invention. I

Figs. 8 to 13,a modified mounting for the range finder tube 60 is disclosed. The tube is carriedby a plurality of similar standards 02.

bolted to cradle A. Each standard is Y-s'haped in side elevational view, Fig. 8, and is separated transversely to form a, yoke into which tube 60 extends, Fig. 9. Each arm 64 is hollowed so that it has a l J-shaped upper edge 66. Mounted on this upper edge is a collar 68 which has a p1u rality of elastic discs 10, for example rubber discs, or rubber-like material such as Isodyne secured therein, the upper edge T2 of each disc being carried over the upper edge of collar 68. Each disc has a member 14 bolted through the center of the disc. A bar 16 extends across all the discs II! on each side of cradle 62, and is bolted to the shanks TB projecting upwardly through bar It. An annulus 80 is fastened to the bars I6, and tube 60 is rotatably mounted in the annulus 80, the tube resting on rollers az'journaledto the annulus. Tube 60 is thus carried by annulus 80 and bar "upon the elastic discs I0, and tube 60 is therefore movable relative to cradle A along three orthogonal axes. The elasticity of discs 10 is selected, as in the case of the springs described for Figs. 1 to 7.

For damping vibrations of high amplitude and low frequency, the device of Fig. 12 has been found to be particularly effective. This consists of a cylinder 84 fastened by a ball and socket joint 86 to bar 16. One end of the cylinder is closed by a plug 88 having a hole through the center thereof, and the opposite end of the cylinder is closed by a wall 90 having a hole therethrough and a conical surface facing towardthe interior of the cylinder. A rod 92 of less diameter than the holes in the ends of thecylinder, passes through the holes longitudinally of the cylinder. Mounted withinthe cylinder are a plurality of metal wedge blocks 94 separated from each other by semi-annular wooden members 96.

Spring 98 urges wedge blocks 94 and wooden housed in a cylinder I04 closed by a, cap I06.

Socket I02 is seatedin a receptacle I08 in the cylinder I04 and is resiliently pressed toward ball I00 by spring I I0. Cylinder I04 is secured to some relatively stationary support.

4 Because of ball and socket joints 86 and I00, I02, the device is responsive to movements of the bar I6, and thus tube 60, along three orthogonal axes. As cylinder 84, Fig. 12, moves to the right or 'toxthe left wedge blocks 94,urged by spring 98, hold. members 96" in frictional contac t with rod92,thus restraining relativemovement therebetween. The assemblage of'the wooden mem- I bers 96" is inherently loose enough so that vibrations or low amplitude are not'damped; Additional damping is achieved by virtue of thework I producedinrotating ball' I00 against themessure of spring I I0. Because of the oppositely disposed cylindersas shown onthe right 'and' left sides of Fig. 8, symmetrical dampingi forcesare I produced I I I Having now described'ithe means by which the objects of the invention are obtained,Iclaini 1. A'support fora beamcomprisingmeansre siliently mounting saidbeam for movement only along three orthogonal axes, and means for 'dampingthe oscillations of said beam along each of saidaxes. I I7 2. A vibration damping support fo'ra beam comprising means mounting said beam for movement only along three orthogonal axes, means for holding said beam parallel to its originalpo sition as itmoves along said axes, and means for damping the vibrations of said beam alongsaid axes. 3 A support for a beam comprising a pairof I hangers, saidbeam resting in said hangers, and

associated with said mounting means for limiting such movement to a normal oscillatoryrate of approximately two cycles per second. 1 5. A resilient mounting for a beam comprising a pair of housings, means mounting said beam in said housingsfor relative movement along one of three orthogonal axes, and meansfor'support ing said housings for movement along the two other of said threeorthogonal axes.

6. A resilient mounting for a beam comprising a plurality of housings, means mountingfsaid,

beam in said housings for relative movement along one of three orthogonahaxes, and means for supporting said housings for movement along the two other of said three orthogonal axes.

'7. A resilient mounting as in "claim fi further comprising means for elastically controlling the movements of said beam andhous'ings along said axes. I I

s. A resilient mounting as'in claim 6 further comprising arms" interconnecting? said housings into three sets of parallelograms' wherebyi rotation of said beam about said axes is prevented. H

Amounting fora range finder comprising a pair of vertical supports, a pair'of vertically separated shafts journaled in said supports, a; pair of housings adaptedto carry a range finder tube, a first pair of arms for each housing, means join ing'one arm for each housing'to'the uppermost of said shafts and to the housing for rotation with said shaftand pivotally displaceable with respect thereto, means similarly joining the otherjar mof said pair of arms to thelowermostof said shafts and to said housing, abearing for said tubewithin' eachhousing, second pairs of arms pivotally joining each bearing to its respective housingfor relative movement with respect thereto, "and spring means for opposing movements of said arms and shafts. I 10. A mounting for a range finder comprising apairof vertical supports, a pair of "terminally separatedshafts journaled. in; said; supports, a pluralityof housings adapted to, carry a. range finder tube,- avfirst pair ofarmsfor each housing, means joining one arm for each housing to the uppermost of said shafts and to the housing for rotation,- with said shaft and pivotally displaceablewith respect thereto, means similarly joining, the other arm of, said pair of arms to the lowermost, of said shafts andv to said housing, a: bearing for said tube within each housing,,secnd pairs of arms pivotally joining each bearing tons-respective housing for relative movement withrespect thereto, and resilient means for opposing movements of said arms and shafts;

, 11. A mounting as in. claim 10, a second pair of" shafts journaled in each, of said housings and extending parallel to said vertically separated shafts, and said joining means including transverse pivot means joining said first pair of arms to said second shafts, respectively.

12. A mounting as in claim 10, a second pair of shaftsjjournaled in each of said housings and extending parallel to said vertically separated shafts, said joinin means including transverse pivot means joining said first pair of arms to said second shafts, respectively, and a third pair of shafts journaled: in said housings and extending therebetween, said second pair of arms being se-- cured to said third shafts to form the pivotal jointbetween said second arms and said housing.

13. In a range finder mounting, means for supporting the range finder tube for movement only'along threeorthogonal axes, and means for damping oscillations of, said supporting means when said oscillationsare less than 1.4'14 the normal resonant frequency of the rangefinder.

14. In a vibration damping support'for a beam, means mounting said beam for movement only along three orthogonal axes, and means forholdingsaid, beam parallel. to its original position as it; moves along said axes.

1 5. A- mounting for arange finder or similar elongated beam-like; article, which comprises, in combination, a main supporting frame, an auxiliary supporting member, means connecting said auxiliary supporting member to said mainsupporting frame for movement of said member in two orthogonal planes, and means connecting said article to said auxiliary supporting member for movement with respect to said member in a third plane at'right angles to both of said first named planes; said first named connecting means comprising a pair of arms having their corresponding endspivotally connected with said supporting frame for swinging movement in one of said first named planes, andhaving their opposite corresponding ends pivotally connected with said auxiliary supporting member, and a pair of arms having their corresponding ends pivotally connected with said supporting frame for swinging movement in the other of said first named orthogonal planes and having their opposite corresponding ends pivotally connected with said auxiliarysupporting member; and said second named connecting means comprising a pair of arms having their corresponding ends pivotally connected with said auxiliary supporting member for swingingmovement in said third plane and having their opposite corresponding ends pivotally cone nected with said article; and resilient means for opposing movements of said article and said auxiliary supporting member.

16. A mounting for a range finder or similar elongated beam-like article, which comprises, in

combination, a main supporting frame, an aux-.

iliary supporting member, meansconnecting said auxiliary supporting member to said main supporting frame for movement of. said member in two orthogonal planes, and means connecting said article tosaid auxiliary supporting member for movement with respect to said member in third plane at right angles to both of said first named planes; said first named connectingmeans comprising a pair of parallel arms of equal length having their COII'GSDOIldil'lg. ends pivotally connected with said supporting frame for swinging movement in one of said first named planes, and having their opposite corresponding ends pivotally connected with said auxiliary supporting member, and a pair of parallel arms, of equal length, having their corresponding ends pivotally connected with said supporting frame for swinging movement in the other of said: first named orthogonal planes and having their opposite corresponding ends pivotally connected with said auxiliary supporting member; and said second named connecting means comprising a pair of parallel arms of equal length having their corresponding ends pivotally connected'with said auxiliary-supporting member for swinging movement in said third plane and havin their opposite corresponding ends pivotally connected with said article; and resilient means for opposing movements of said article and said auxiliary supporting member.

1'7. A mounting for a range finder or similar elongated beam-like article, which comprises, in

combination, a main supporting frame, an auxiliary supportingmember, means connecting said auxiliary supporting member to said main supporting frame for movement of said member in two orthogonal'planes, andmeans connecting said article to said auxiliary supporting member for movement with respect to said member in a third plane atright angles to both of said first named planes; said first named connecting means comprising a pair of parallel arms of equal length having their corresponding ends pivotally connected with said supporting frame for swinging movement in one of said first named planes, and having their opposite corresponding ends pivotally connected withsaid auxiliary supporting memher, and a pair of parallel arms of equal length having their'corresponding ends pivotally connected with said supporting frame for swinging movement in the other of sa'idfirst named orthogonal planes and having their opposite corresponding ends pivotally connected with said auxiliary supporting member; and said second named connecting means comprising a pair of parallel arms of equal length having their corresponding ends pivotally connected with said auxiliary supporting member for swinging movement in saidthird plane and having their opposite correspondin ends pivotally connected with said article;

and resilient means associated: with at least one 18. A mounting for a range finder or similar elongated beam-like article, which comprises, in combination, a main supporting frame, and an auxiliary supporting -member, a pair of spaced parallel shafts rotatably-carried by said frame,

two pairs of parallel arms of equal length one arm of each of saidpairs pivoted at one end to each of said shafts to swing in unison ma planeincluding the axis of said shaft but-fixed for rota.

tion along with said shaft, a pair of parallel shafts spaced apartthe same distance that separatesthe first two shafts and each parallel to and equidistantly spaced from corresponding ones of said first pair, bearings for said second pair of shafts in said auxiliary supporting member, the opposite ends of said pairs of arms respectively connected to said secondnamed shafts to pivot in a plane of the axis of said shafts but to swing with said shafts when they rotate'relative to said" bearings; a pair of parallel arms of equal length pivoted at corresponding ends on said auxiliary supporting member for swinging movement in a plane at right angles to the axes of said shafts, the opposite ends of said last named arms being pivotally connected with said article; all whereby said article is supported for bodily translatory movement in three orthogonal planes.

19. A mounting for a range finder or similar elongated beam-like article, which comprises, in

combination, a main supporting frame, and an auxiliary supporting member, a pair of spaced parallel shafts rotatably carried by said frame,

two pairs of parallel arms of equal length one arm of each of said pairs pivoted at one end to each of said shafts to swing in unison in a plane including the axis of said shaft but fixed for rotation along with said shaft, a pair of parallel shafts spaced apart thesame distance that separates the first two shafts and each parallel to and equidistantly spaced from corresponding ones of said first pair, bearings for said second pair of shafts in said auxiliary supporting member, the

opposite ends of said pairs of arms respectively connectedto said second named shafts to pivot in a plane of the axis of said shafts but to swing with said shafts when they rotate relative to said bearings; a pair of parallel arms of equal length pivoted at corresponding ends on said auxiliary supporting member for swinging movement in a plane at rightangles to the axes of said shafts, the opposite ends of said last named arms being pivotallyconnected with said article; all whereby said article is supported for bodily translatory movement in threeorthogonal planes; and means resisting movement of said article in said planes, and means for damping oscillation of said article in all threeplanes of movement permitted by I the supporting connections.

said article.

AUGUSTE LOUIS MARIE ANTOINE ROUY. 

